diff --git a/Documentation/components/drivers/special/rpmsg/index.rst b/Documentation/components/drivers/special/rpmsg/index.rst
index d23cd2c2db6..7ac2e58678f 100644
--- a/Documentation/components/drivers/special/rpmsg/index.rst
+++ b/Documentation/components/drivers/special/rpmsg/index.rst
@@ -11,3 +11,4 @@ for inter-processor communication in Asymmetric Multiprocessing (AMP) systems.
 
    concepts
    rpmsg_port
+   rpmsg_port_uart
diff --git a/Documentation/components/drivers/special/rpmsg/rpmsg_port_uart.rst b/Documentation/components/drivers/special/rpmsg/rpmsg_port_uart.rst
new file mode 100644
index 00000000000..9fe32059d5a
--- /dev/null
+++ b/Documentation/components/drivers/special/rpmsg/rpmsg_port_uart.rst
@@ -0,0 +1,190 @@
+RPMsg Port UART
+===============
+
+Overview
+--------
+
+RPMsg Port UART is a transport layer implementation that enables RPMsg
+communication between two SoCs connected via UART. This is useful when
+shared memory is not available between chips, such as two separate chips
+on the same PCB.
+
+Hardware Requirements
+---------------------
+
+The UART interface requires four signals with hardware flow control support:
+
+::
+
+    ┌─────────────┐               ┌─────────────┐
+    │   SoC A     │               │   SoC B     │
+    │             │  TX ────────> │             │
+    │    UART     │  RX <──────── │    UART     │
+    │             │ RTS ────────> │             │
+    │             │ CTS <──────── │             │
+    └─────────────┘               └─────────────┘
+
+Requirements:
+
+- Hardware flow control (RTS/CTS) must be supported to prevent data loss
+- RX pin should support wake-up for low power mode
+- Data corruption during wake-up is not allowed, but data loss is acceptable
+  (handled by software)
+
+Software Architecture
+---------------------
+
+::
+
+    ┌────────────────────────────────────────┐
+    │           RPMsg Framework              │
+    ├────────────────────────────────────────┤
+    │              RPMsg Port                │
+    │   (Buffer Management, Name Service)    │
+    ├────────────────────────────────────────┤
+    │           RPMsg Port UART              │
+    │   (Escape Coding, Connection Protocol, │
+    │   Data Transfer, Low Power Support)    │
+    ├────────────────────────────────────────┤
+    │           UART Driver                  │
+    └────────────────────────────────────────┘
+
+Protocol Details
+----------------
+
+Escape Coding
+~~~~~~~~~~~~~
+
+Special characters (0x70-0x7f) are used to distinguish commands from data:
+
+.. code-block:: c
+
+   #define RPMSG_PORT_UART_START      0x7f  /* Frame start */
+   #define RPMSG_PORT_UART_END        0x70  /* Frame end */
+   #define RPMSG_PORT_UART_ESCAPE     0x7c  /* Escape character */
+   #define RPMSG_PORT_UART_CONNREQ    0x7e  /* Connection request */
+   #define RPMSG_PORT_UART_CONNACK    0x7d  /* Connection acknowledge */
+   #define RPMSG_PORT_UART_ESCAPE_MASK 0x20 /* Escape XOR mask */
+
+Encoding example:
+
+::
+
+   Original:  [0x01, 0x7f, 0x02, 0x70, 0x03]
+   Encoded:   [START] [0x01] [ESC] [0x5f] [0x02] [ESC] [0x50] [0x03] [END]
+              [0x7f]  [0x01] [0x7c][0x5f] [0x02] [0x7c][0x50] [0x03] [0x70]
+
+When a byte falls in the 0x70-0x7f range, it is escaped by sending the
+ESCAPE character followed by the original byte XORed with 0x20.
+
+Connection Protocol
+~~~~~~~~~~~~~~~~~~~
+
+The connection protocol supports:
+
+- Either side can start first during system boot
+- Reconnection after either side restarts
+
+::
+
+   Normal startup:
+   ┌────────┐                      ┌────────┐
+   │ CPU A  │                      │ CPU B  │
+   └────────┘                      └────────┘
+       │                               │
+       │ ──── CONNREQ (0x7e) ────────> │
+       │                               │ Initialize resources
+       │ <──── CONNACK (0x7d) ──────── │
+       │ Initialize resources          │
+       │                               │
+       │      Connection established   │
+
+   Restart scenario (CPU B restarts):
+   ┌────────┐                      ┌────────┐
+   │ CPU A  │                      │ CPU B  │
+   │(running)│                     │(restart)│
+   └────────┘                      └────────┘
+       │                               │
+       │ <──── CONNREQ (0x7e) ──────── │
+       │ Reinitialize resources        │
+       │ ──── CONNACK (0x7d) ────────> │
+       │                               │ Initialize resources
+       │      Connection established   │
+
+Data Frame Format
+~~~~~~~~~~~~~~~~~
+
+::
+
+   ┌───────┬─────────────────────────────────┬───────┐
+   │ START │   Header + Payload (escaped)    │  END  │
+   │ 0x7f  │                                 │ 0x70  │
+   └───────┴─────────────────────────────────┴───────┘
+
+   Header structure (rpmsg_port_header_s):
+   ┌────────┬────────┬────────┬────────┬──────────────┐
+   │  crc   │  cmd   │ avail  │  len   │   payload    │
+   │ 2 byte │ 2 byte │ 2 byte │ 2 byte │   N bytes    │
+   └────────┴────────┴────────┴────────┴──────────────┘
+
+- crc: CRC16 checksum (optional, enabled via CONFIG_RPMSG_PORT_UART_CRC)
+- cmd: Command field (unused for data frames, set to 0)
+- avail: Available space (unused for data frames, set to 0)
+- len: Total length including header
+- payload: Actual RPMsg data
+
+Low Power Support
+-----------------
+
+RPMsg Port UART implements low power support without additional GPIOs using
+special wake/sleep commands:
+
+.. code-block:: c
+
+   #define RPMSG_PORT_UART_STAYWAKE1     0x79  /* Wake request 1 */
+   #define RPMSG_PORT_UART_STAYWAKEACK1  0x78  /* Wake acknowledge 1 */
+   #define RPMSG_PORT_UART_STAYWAKE2     0x75  /* Wake request 2 */
+   #define RPMSG_PORT_UART_STAYWAKEACK2  0x74  /* Wake acknowledge 2 */
+   #define RPMSG_PORT_UART_RELAXWAKE     0x77  /* Allow sleep */
+
+Wake/Sleep Flow
+~~~~~~~~~~~~~~~
+
+::
+
+   ┌────────┐                           ┌────────┐
+   │ CPU A  │                           │ CPU B  │
+   │(sender)│                           │(asleep)│
+   └────────┘                           └────────┘
+       │                                    │
+       │ Acquire TX PM lock                 │
+       │ ──── STAYWAKE1 ──────────────────> │
+       │                                    │ Acquire RX PM lock
+       │ <──── STAYWAKEACK1 ─────────────── │
+       │                                    │
+       │ ════ Data Transfer ══════════════> │
+       │                                    │
+       │ ──── RELAXWAKE ──────────────────> │
+       │ Release TX PM lock                 │ Release RX PM lock
+       │                                    │
+
+Ping-Pong Wake Mechanism
+~~~~~~~~~~~~~~~~~~~~~~~~
+
+Two sets of wake commands (STAYWAKE1/ACK1 and STAYWAKE2/ACK2) are used
+alternately to prevent false wake acknowledgments:
+
+::
+
+   First transfer:  STAYWAKE1 → STAYWAKEACK1 → Data → RELAXWAKE
+   Second transfer: STAYWAKE2 → STAYWAKEACK2 → Data → RELAXWAKE
+   Third transfer:  STAYWAKE1 → STAYWAKEACK1 → Data → RELAXWAKE
+   ...
+
+This prevents the sender from mistakenly accepting a delayed ACK from a
+previous transfer as confirmation for the current transfer.
+
+Source Files
+------------
+
+- ``nuttx/drivers/rpmsg/rpmsg_port_uart.c``